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Locationd cleanup (#1517)

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* way cleaner take 2

* cleanup

* be more relaxed

* just let it be

* don't drive backwards or upside down

* do this more

* vNED sometyimes invalid

* use reasonble stds

* stability in nonlinear zone

* previous metrics were without publishing
old-commit-hash: 81686547cc
commatwo_master
HaraldSchafer 6 years ago committed by GitHub
parent 96dd0232cd
commit e21bbf8bbd
4 changed files with 81 additions and 78 deletions
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  1. 2
      common/manager_helpers.py
  2. 103
      selfdrive/locationd/locationd.py
  3. 3
      selfdrive/locationd/models/constants.py
  4. 43
      selfdrive/locationd/models/live_kf.py

2
common/manager_helpers.py
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@ -12,7 +12,7 @@ def print_cpu_usage(first_proc, last_proc):
("selfdrive.controls.radard", 9.54),
("./_ui", 9.54),
("./camerad", 7.07),
("selfdrive.locationd.locationd", 7.13),
("selfdrive.locationd.locationd", 13.96),
("./_sensord", 6.17),
("selfdrive.controls.dmonitoringd", 5.48),
("./boardd", 3.63),

103
selfdrive/locationd/locationd.py
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@ -1,16 +1,14 @@
#!/usr/bin/env python3
import math
import numpy as np
import sympy as sp
import cereal.messaging as messaging
import common.transformations.coordinates as coord
from common.transformations.orientation import (ecef_euler_from_ned,
euler_from_quat,
ned_euler_from_ecef,
quat_from_euler,
rot_from_quat, rot_from_euler)
from common.transformations.orientation import ecef_euler_from_ned, \
euler_from_quat, \
ned_euler_from_ecef, \
quat_from_euler, \
rot_from_quat, rot_from_euler
from rednose.helpers import KalmanError
from selfdrive.locationd.models.live_kf import LiveKalman, States, ObservationKind
from selfdrive.locationd.models.constants import GENERATED_DIR
@ -147,18 +145,17 @@ class Localizer():
#fix.gpsTimeOfWeek = self.time.tow
fix.unixTimestampMillis = self.unix_timestamp_millis
if self.filter_ready and self.calibrated:
if np.linalg.norm(fix.positionECEF.std) < 50 and self.calibrated:
fix.status = 'valid'
elif self.filter_ready:
elif np.linalg.norm(fix.positionECEF.std) < 50:
fix.status = 'uncalibrated'
else:
fix.status = 'uninitialized'
return fix
def update_kalman(self, time, kind, meas):
if self.filter_ready:
def update_kalman(self, time, kind, meas, R=None):
try:
self.kf.predict_and_observe(time, kind, meas)
self.kf.predict_and_observe(time, kind, meas, R=R)
except KalmanError:
cloudlog.error("Error in predict and observe, kalman reset")
self.reset_kalman()
@ -169,43 +166,39 @@ class Localizer():
# self.observation_buffer.pop(0)
def handle_gps(self, current_time, log):
# ignore the message if the fix is invalid
if log.flags % 2 == 0:
return
self.converter = coord.LocalCoord.from_geodetic([log.latitude, log.longitude, log.altitude])
fix_ecef = self.converter.ned2ecef([0, 0, 0])
ecef_pos = self.converter.ned2ecef([0, 0, 0])
ecef_vel = self.converter.ned2ecef_matrix.dot(np.array(log.vNED))
ecef_pos_R = np.diag([(3*log.verticalAccuracy)**2]*3)
ecef_vel_R = np.diag([(log.speedAccuracy)**2]*3)
#self.time = GPSTime.from_datetime(datetime.utcfromtimestamp(log.timestamp*1e-3))
self.unix_timestamp_millis = log.timestamp
# TODO initing with bad bearing not allowed, maybe not bad?
if not self.filter_ready and log.speed > 5:
self.filter_ready = True
initial_ecef = fix_ecef
gps_bearing = math.radians(log.bearing)
initial_pose_ecef = ecef_euler_from_ned(initial_ecef, [0, 0, gps_bearing])
initial_pose_ecef_quat = quat_from_euler(initial_pose_ecef)
gps_speed = log.speed
quat_uncertainty = 0.2**2
initial_state = LiveKalman.initial_x
initial_covs_diag = LiveKalman.initial_P_diag
initial_state[States.ECEF_POS] = initial_ecef
initial_state[States.ECEF_ORIENTATION] = initial_pose_ecef_quat
initial_state[States.ECEF_VELOCITY] = rot_from_quat(initial_pose_ecef_quat).dot(np.array([gps_speed, 0, 0]))
initial_covs_diag[States.ECEF_POS_ERR] = 10**2
initial_covs_diag[States.ECEF_ORIENTATION_ERR] = quat_uncertainty
initial_covs_diag[States.ECEF_VELOCITY_ERR] = 1**2
self.kf.init_state(initial_state, covs=np.diag(initial_covs_diag), filter_time=current_time)
cloudlog.info("Filter initialized")
elif self.filter_ready:
self.update_kalman(current_time, ObservationKind.ECEF_POS, fix_ecef)
gps_est_error = np.sqrt((self.kf.x[0] - fix_ecef[0])**2 +
(self.kf.x[1] - fix_ecef[1])**2 +
(self.kf.x[2] - fix_ecef[2])**2)
if gps_est_error > 50:
cloudlog.error("Locationd vs ubloxLocation difference too large, kalman reset")
gps_est_error = np.sqrt((self.kf.x[0] - ecef_pos[0])**2 +
(self.kf.x[1] - ecef_pos[1])**2 +
(self.kf.x[2] - ecef_pos[2])**2)
orientation_ecef = euler_from_quat(self.kf.x[States.ECEF_ORIENTATION])
orientation_ned = ned_euler_from_ecef(ecef_pos, orientation_ecef)
orientation_ned_gps = np.array([0, 0, np.radians(log.bearing)])
orientation_error = np.mod(orientation_ned - orientation_ned_gps - np.pi, 2*np.pi) - np.pi
if np.linalg.norm(ecef_vel) > 5 and np.linalg.norm(orientation_error) > 1:
cloudlog.error("Locationd vs ubloxLocation orientation difference too large, kalman reset")
initial_pose_ecef_quat = quat_from_euler(ecef_euler_from_ned(ecef_pos, orientation_ned_gps))
self.reset_kalman(init_orient=initial_pose_ecef_quat)
self.update_kalman(current_time, ObservationKind.ECEF_ORIENTATION_FROM_GPS, initial_pose_ecef_quat)
elif gps_est_error > 50:
cloudlog.error("Locationd vs ubloxLocation position difference too large, kalman reset")
self.reset_kalman()
self.update_kalman(current_time, ObservationKind.ECEF_POS, ecef_pos, R=ecef_pos_R)
self.update_kalman(current_time, ObservationKind.ECEF_VEL, ecef_vel, R=ecef_vel_R)
def handle_car_state(self, current_time, log):
self.speed_counter += 1
@ -222,12 +215,12 @@ class Localizer():
rot_device_std = self.device_from_calib.dot(log.rotStd)
self.update_kalman(current_time,
ObservationKind.CAMERA_ODO_ROTATION,
np.concatenate([rot_device, rot_device_std]))
np.concatenate([rot_device, 10*rot_device_std]))
trans_device = self.device_from_calib.dot(log.trans)
trans_device_std = self.device_from_calib.dot(log.transStd)
self.update_kalman(current_time,
ObservationKind.CAMERA_ODO_TRANSLATION,
np.concatenate([trans_device, trans_device_std]))
np.concatenate([trans_device, 10*trans_device_std]))
def handle_sensors(self, current_time, log):
# TODO does not yet account for double sensor readings in the log
@ -236,10 +229,6 @@ class Localizer():
if sensor_reading.sensor == 5 and sensor_reading.type == 16:
self.gyro_counter += 1
if self.gyro_counter % SENSOR_DECIMATION == 0:
if max(abs(self.kf.x[States.IMU_OFFSET])) > 0.07:
cloudlog.info('imu frame angles exceeded, correcting')
self.update_kalman(current_time, ObservationKind.IMU_FRAME, [0, 0, 0])
v = sensor_reading.gyroUncalibrated.v
self.update_kalman(current_time, ObservationKind.PHONE_GYRO, [-v[2], -v[1], -v[0]])
@ -256,9 +245,14 @@ class Localizer():
self.calib_from_device = self.device_from_calib.T
self.calibrated = log.calStatus == 1
def reset_kalman(self):
self.filter_time = None
self.filter_ready = False
def reset_kalman(self, current_time=None, init_orient=None):
self.filter_time = current_time
init_x = LiveKalman.initial_x
# too nonlinear to init on completely wrong
if init_orient is not None:
init_x[3:7] = init_orient
self.kf.init_state(init_x, covs=np.diag(LiveKalman.initial_P_diag), filter_time=current_time)
self.observation_buffer = []
self.gyro_counter = 0
@ -269,7 +263,8 @@ class Localizer():
def locationd_thread(sm, pm, disabled_logs=[]):
if sm is None:
sm = messaging.SubMaster(['gpsLocationExternal', 'sensorEvents', 'cameraOdometry', 'liveCalibration'])
socks = ['gpsLocationExternal', 'sensorEvents', 'cameraOdometry', 'liveCalibration']
sm = messaging.SubMaster(socks)
if pm is None:
pm = messaging.PubMaster(['liveLocationKalman'])
@ -292,7 +287,7 @@ def locationd_thread(sm, pm, disabled_logs=[]):
elif sock == "liveCalibration":
localizer.handle_live_calib(t, sm[sock])
if localizer.filter_ready and sm.updated['gpsLocationExternal']:
if sm.updated['gpsLocationExternal']:
t = sm.logMonoTime['gpsLocationExternal']
msg = messaging.new_message('liveLocationKalman')
msg.logMonoTime = t

3
selfdrive/locationd/models/constants.py
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@ -27,6 +27,8 @@ class ObservationKind:
PSEUDORANGE_RATE_GLONASS = 21
PSEUDORANGE = 22
PSEUDORANGE_RATE = 23
ECEF_VEL = 31
ECEF_ORIENTATION_FROM_GPS = 32
ROAD_FRAME_XY_SPEED = 24 # (x, y) [m/s]
ROAD_FRAME_YAW_RATE = 25 # [rad/s]
@ -36,6 +38,7 @@ class ObservationKind:
STEER_RATIO = 29 # [-]
ROAD_FRAME_X_SPEED = 30 # (x) [m/s]
names = [
'Unknown',
'No observation',

43
selfdrive/locationd/models/live_kf.py
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@ -1,11 +1,11 @@
#!/usr/bin/env python3
import sys
import numpy as np
import sympy as sp
from selfdrive.locationd.models.constants import ObservationKind
from rednose.helpers import KalmanError
from rednose.helpers.ekf_sym import EKF_sym, gen_code
from rednose.helpers.sympy_helpers import euler_rotate, quat_matrix_r, quat_rotate
@ -46,9 +46,9 @@ class LiveKalman():
0, 0, 0])
# state covariance
initial_P_diag = np.array([10000**2, 10000**2, 10000**2,
10**2, 10**2, 10**2,
10**2, 10**2, 10**2,
initial_P_diag = np.array([1e14, 1e14, 1e14,
1e6, 1e6, 1e6,
1e4, 1e4, 1e4,
1**2, 1**2, 1**2,
0.05**2, 0.05**2, 0.05**2,
0.02**2,
@ -57,8 +57,8 @@ class LiveKalman():
# process noise
Q = np.diag([0.03**2, 0.03**2, 0.03**2,
0.0**2, 0.0**2, 0.0**2,
0.0**2, 0.0**2, 0.0**2,
0.001**2, 0.001*2, 0.001**2,
0.01**2, 0.01**2, 0.01**2,
0.1**2, 0.1**2, 0.1**2,
(0.005 / 100)**2, (0.005 / 100)**2, (0.005 / 100)**2,
(0.02 / 100)**2,
@ -172,6 +172,8 @@ class LiveKalman():
h_speed_sym = sp.Matrix([speed * odo_scale])
h_pos_sym = sp.Matrix([x, y, z])
h_vel_sym = sp.Matrix([vx, vy, vz])
h_orientation_sym = q
h_imu_frame_sym = sp.Matrix(imu_angles)
h_relative_motion = sp.Matrix(quat_rot.T * v)
@ -181,6 +183,8 @@ class LiveKalman():
[h_phone_rot_sym, ObservationKind.NO_ROT, None],
[h_acc_sym, ObservationKind.PHONE_ACCEL, None],
[h_pos_sym, ObservationKind.ECEF_POS, None],
[h_vel_sym, ObservationKind.ECEF_VEL, None],
[h_orientation_sym, ObservationKind.ECEF_ORIENTATION_FROM_GPS, None],
[h_relative_motion, ObservationKind.CAMERA_ODO_TRANSLATION, None],
[h_phone_rot_sym, ObservationKind.CAMERA_ODO_ROTATION, None],
[h_imu_frame_sym, ObservationKind.IMU_FRAME, None]]
@ -197,7 +201,9 @@ class LiveKalman():
ObservationKind.CAMERA_ODO_ROTATION: np.diag([0.05**2, 0.05**2, 0.05**2]),
ObservationKind.IMU_FRAME: np.diag([0.05**2, 0.05**2, 0.05**2]),
ObservationKind.NO_ROT: np.diag([0.00025**2, 0.00025**2, 0.00025**2]),
ObservationKind.ECEF_POS: np.diag([5**2, 5**2, 5**2])}
ObservationKind.ECEF_POS: np.diag([5**2, 5**2, 5**2]),
ObservationKind.ECEF_VEL: np.diag([.5**2, .5**2, .5**2]),
ObservationKind.ECEF_ORIENTATION_FROM_GPS: np.diag([.2**2, .2**2, .2**2, .2**2])}
# init filter
self.filter = EKF_sym(generated_dir, self.name, self.Q, self.initial_x, np.diag(self.initial_P_diag), self.dim_state, self.dim_state_err)
@ -226,25 +232,24 @@ class LiveKalman():
P = self.filter.covs()
self.filter.init_state(state, P, filter_time)
def predict_and_observe(self, t, kind, data):
if len(data) > 0:
data = np.atleast_2d(data)
def predict_and_observe(self, t, kind, meas, R=None):
if len(meas) > 0:
meas = np.atleast_2d(meas)
if kind == ObservationKind.CAMERA_ODO_TRANSLATION:
r = self.predict_and_update_odo_trans(data, t, kind)
r = self.predict_and_update_odo_trans(meas, t, kind)
elif kind == ObservationKind.CAMERA_ODO_ROTATION:
r = self.predict_and_update_odo_rot(data, t, kind)
r = self.predict_and_update_odo_rot(meas, t, kind)
elif kind == ObservationKind.ODOMETRIC_SPEED:
r = self.predict_and_update_odo_speed(data, t, kind)
r = self.predict_and_update_odo_speed(meas, t, kind)
else:
r = self.filter.predict_and_update_batch(t, kind, data, self.get_R(kind, len(data)))
if R is None:
R = self.get_R(kind, len(meas))
elif len(R.shape) == 2:
R = R[None]
r = self.filter.predict_and_update_batch(t, kind, meas, R)
# Normalize quats
quat_norm = np.linalg.norm(self.filter.x[3:7, 0])
# Should not continue if the quats behave this weirdly
if not (0.1 < quat_norm < 10):
raise KalmanError("Kalman filter quaternions unstable")
self.filter.x[States.ECEF_ORIENTATION, 0] = self.filter.x[States.ECEF_ORIENTATION, 0] / quat_norm
return r

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